This is another way to change the rear diff fluid. With this method you will be removing the fluid, but some old fluid will remain at the bottom of the diff. It is kinda half arsed but effective....
he front diff is replaced in his video.... It is a Jeep cherokee.

i recently did both axles myself, had the car on the ramps, first the front, then the rear, front was was pretty ez and took like 15 mins while the back one was a $%^ !!! removing the diff cover while the sway bar and the spare is there was not that ez, using dremel on the axle to remove old sealant and polish the surface was no ez task either, had to use the extension. oh and putting the cover back with the sealant on was like a friggin surgery next time im just gonna use the lil pump to suck all old oil out! oh and i didnt want to touch the tranny, especially with the warranty n such so i paid the dealer 300$ (happend today actually) and it shifts much better! well may b its all in me mind but i sure think its more smooth, and it kinda stopped kicking when i would let go of the gas pedal during slow acceleration. it only has 27k but decided to do it now anyway. tranny is one expensive piece of hardware!

it only has 27k but decided to do it now anyway. tranny is one expensive piece of hardware!

Thats why I am a firm believer in replacing the TRANSFER CASE, TRANSMISSION and DIFFERENTIAL FLUIDS at every 30k miles Whether you drive it under severe conditions, like a grandmother or like you stole it.....